Add maxBaseRPYDegreesPerSecond to ik.py
Add maxBaseRPYDegreesPerSecond to ik.py

Also, remove unused v_max options from collisionFreePlanner.
Resolves #1184

edowson/director,manuelli/director,rdeits/director,manuelli/director,rdeits/director,openhumanoids/director,patmarion/director,gizatt/director,mithrandir123/director,RobotLocomotion/director,openhumanoids/director,rdeits/director,mitdrc/director,mitdrc/director,edowson/director,patmarion/director,RussTedrake/director,edowson/director,manuelli/director,RobotLocomotion/director,RussTedrake/director,mithrandir123/director,RussTedrake/director,gizatt/director,manuelli/director,empireryan/director,RussTedrake/director,RobotLocomotion/director,edowson/director,openhumanoids/director,openhumanoids/director,empireryan/director,patmarion/director,mithrandir123/director,mitdrc/director,gizatt/director,empireryan/director,patmarion/director,gizatt/director,RobotLocomotion/director,rdeits/director,mitdrc/director,rdeits/director,empireryan/director,manuelli/director,mithrandir123/director,RobotLocomotion/director,RussTedrake/director,patmarion/director,openhumanoids/director,edowson/director,gizatt/director,mitdrc/director,mithrandir123/director,empireryan/director